/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <math.h>
#include <string.h>

#include "MA600.h"
#include "ZDTDriver.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define MA600GQ_CS_Enable() (HAL_GPIO_WritePin(MA600_CS_GPIO_Port, MA600_CS_Pin, GPIO_PIN_RESET))
#define MA600GQ_CS_Disable() (HAL_GPIO_WritePin(MA600_CS_GPIO_Port, MA600_CS_Pin, GPIO_PIN_SET))
#define POLE_PAIR_NUM           1 // Define according to your motor
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint16_t angle;
float real_angle=0;
uint8_t txbuff[20]={0x68,0x00};
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART2_UART_Init();
  MX_SPI1_Init();
  MX_TIM6_Init();
  MX_TIM7_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  ZDT_Init(&huart1);
  HAL_TIM_Base_Start(&htim6);
  HAL_TIM_Base_Start(&htim7);

  MA600_HandleInit(&TestMA600,&hspi1,MA600_CS_GPIO_Port,MA600_CS_Pin);

  ZDT_Vel_Control(&zdt1,DIR(0),ABS(0),1,false);
  HAL_Delay(500);

  while (HAL_GPIO_ReadPin(USER_KEY_GPIO_Port, USER_KEY_Pin) == GPIO_PIN_SET)
  {
      angle=MA600_Get_Angle(&TestMA600);
      HAL_Delay(10);
  }
  ZDT_Reset_CurPos_To_Zero(&zdt0);
  HAL_Delay(50);
  ZDT_Set_Sys_PID(&zdt1,false,36000,20,25000);
  HAL_Delay(50);
  ZDTGetPos(1);
  HAL_Delay(50);
  // ZDT_Vel_Control(&zdt1,DIR(2),ABS(2),1,false);
  HAL_Delay(200);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    // ZDTGetPos(1);
    // angle=MA600_Get_Angle(&TestMA600);
    // real_angle=fmodf((float)zdt1.state.CurrentPosition/(65535.0f/360.0f),360.0f);
    // memcpy(txbuff+2,&angle,2);
    // memcpy(txbuff+4,&real_angle,4);
    // HAL_UART_Transmit_DMA(&huart2,txbuff,8);
    // HAL_Delay(10);

    for (int send_angle =0;send_angle<360;send_angle++)
    {
        int clk = send_angle * (3200/360.0f);
        ZDT_Pos_Control(&zdt1,DIR(clk),ABS(5),ABS(1),ABS(clk),true,false);
        HAL_Delay(450);
        ZDTGetPos(1);
        angle=MA600_Get_Angle(&TestMA600);
        real_angle=fmodf((float)zdt1.state.CurrentPosition/(65535.0f/360.0f),360.0f);
        memcpy(txbuff+2,&angle,2);
        memcpy(txbuff+4,&real_angle,4);
        HAL_UART_Transmit_DMA(&huart2,txbuff,8);
        HAL_Delay(50);

    }
    while (1)
    {
      HAL_Delay(500);
    }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
  RCC_OscInitStruct.PLL.PLLN = 8;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */


/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
